f frame

    I have a robot with two tools that it switches between. The position of the tools wasn't taken into account when we set it up and now the home program doesn't work for both tools.

    we are using a PR to run an offset to get the tool clear of any potential collisions. from what I can see the PR is set to "Tool frame F" and "User frame F"

    my question is what is "frame F" based off?

    I have made the assumption that it is based off the face plate however I would like to be sure of it.

    The PR is based on whatever user and tool frame is active at the time your run to it. Not sure what the F stands for. Floating? Free?


    This doesn't apply of course if the PR is in joint rep.

    Check out the Fanuc position converter I wrote here! Now open source!

    Check out my example Fanuc Ethernet/IP Explicit Messaging program here!

    Since the Ref Positions are set in Joint, standard practice for PRs used for moving the robot to those positions is to make the PRs Joint, rather than Cartesian. That way, the robot will move to the same physical location in space regardless of what UFrame is active.

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